Journal of the Korean Society for Precision Engineering

Dynamic Characteristic-based Driving Performance Analysis of a Semi-active Suspension Wheel Module for Small Mobile Robots: Seoyeon Park, Sungjae Kim, Juhyun Pyo, Murim Kim, Jin-Ho Suh; J. Korean Soc. Precis. Eng. 2025;42(11):919-926.
Published online November 1, 2025; DOI: https://doi.org/10.7736/JKSPE.025.069

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This study details the development of a semi-active suspension wheel module for small mobile robots and assesses its dynamic characteristics under various driving conditions through simulation. The wheel module features a low-degree-of-freedom mechanical design and includes a semi-active damper to improve adaptability to different environments. To validate the simulation model, a prototype robot equipped with the wheel module was created, and obstacle-crossing experiments were conducted to measure vertical acceleration responses. The model was then refined based on these experimental results. By employing design of experiments and optimization techniques, the effective range of damping coefficients was estimated. Additionally, simulations were carried out at different speeds, payloads, and obstacle heights to identify optimal damping values and examine their trends. The results indicate that the proposed module significantly enhances driving stability and can serve as a foundation for future control strategies in robotic mobility systems.

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Development of an Autonomous Stair Driving System based on an Object Detection Algorithm through Analysis of Stair Traversal Conditions of a Tracked Robot: Min Gi Song, Sung-Jae Kim, Jin-Ho Suh; J. Korean Soc. Precis. Eng. 2025;42(1):27-38.
Published online January 1, 2025; DOI: https://doi.org/10.7736/JKSPE.024.097

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In this paper, we propose an autonomous stair-driving system for the stable traversal of stairs by a tracked mobile robot operating in indoor disaster environments. Before developing the system, we conduct dynamic simulations to analyze the requirements for the robot to climb stairs. Simulations are performed under various initial conditions, and based on a detailed analysis of the results, we derive the necessary conditions for the robot's ascent. Using these requirements, we design the autonomous stair-driving system, which includes three main components: stair approach, stair alignment, and stair traversal. First, during the approach stage, we present a strategy for recognizing stairs using an object detection algorithm and generating control inputs for the stair approach motion. Next, in the alignment process, we outline an image processing sequence that extracts the edge contour of the stairs and a method for generating control inputs from the combined contour. Finally, in the traversal sequence, we describe the strategy for driving up the stairs. Additionally, we introduce an integrated ROS system to ensure the sequential execution of each strategy. We also verify the effectiveness of the individual strategies and demonstrate the capability of the proposed system through experiments using mock-up stairs and tracked robots.

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Research on Four-wheel Steering-based Mobile Robot Driving Control Strategy to Implement Autonomous Driving Service: Do Hyun Kim, Chang Won Kim; J. Korean Soc. Precis. Eng. 2024;41(12):1009-1015.
Published online December 1, 2024; DOI: https://doi.org/10.7736/JKSPE.024.106

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This paper proposes an algorithm to improve path planning and tracking performance for autonomous robots using a Four- Wheel Steering (4WS) system in constrained environments. Traditional Ackermann steering systems face limitations in narrow spaces, which the 4WS system aims to address. By extending the Hybrid A* algorithm to adapt to the unique characteristics of the 4WS system, and integrating it with Model Predictive Control, the study achieves efficient path planning and precise tracking in complex environments. A distinctive aspect of the proposed approach is its adaptive control strategy, dynamically switching between three modes—Normal driving, Pivot, and Parallel movement—based on the vehicle's motion state, thus enhancing both flexibility and efficiency. The algorithm's performance was validated through MATLAB simulations in a logistics warehouse setting, showing high path tracking accuracy in confined spaces. The study effectively demonstrates the feasibility of the proposed method in a simulated environment.

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A Study for Autonomous Driving Algorithm of a Mobile Electric Charging System in Parking Area: Dayoung Kim, Jungsub Choi, Seong-yeol Yoo; J. Korean Soc. Precis. Eng. 2024;41(9):713-718.
Published online September 1, 2024; DOI: https://doi.org/10.7736/JKSPE.024.033

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With the increasing severity of global warming, there is a growing need for eco-friendly vehicles to reduce greenhouse gas emissions. However, the expansion of charging infrastructure is struggling to keep up with the rising number of electric vehicles due to space constraints and installation costs. This paper aims to address this issue by proposing an autonomous driving algorithm for a mobile robot-based movable charging system for electric vehicles, as an alternative to traditional stationary charging stations. Our paper introduces a rule-based path planning algorithm for autonomous robot-based charging systems. To achieve this, we employ the A^* (A-star) algorithm for global path planning towards the charging request position, while utilizing the Dynamic Window Approach (DWA) algorithm for generating avoidance paths around obstacles in the parking lot. The avoidance path generation algorithm differentiates between dynamic and static obstacles, with specific algorithms formulated for each type of obstacle. Finally, we implement the suggested algorithm and verify its performance through simulation.

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Analysis of Inverse Kinematics for Legged Walking and Skated Driving with Hybrid Mobile Robot: Chang-Soon Hwang, Ho Lee, Bo-Yeong Kang; J. Korean Soc. Precis. Eng. 2023;40(11):855-866.
Published online November 1, 2023; DOI: https://doi.org/10.7736/JKSPE.023.067

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Hybrid mobile robot is the system that will practically combine legged walking and skated driving in the same system. Therefore, this robot has own problems of inverse kinematics that are not considered in typical walking robots. In this paper, I fully categorized the inverse kinematics problems for hybrid mobile robot with general motion by walking and driving on an inclined plane, including switching end-effectors between foots and blades. I also solved the inverse kinematics for each case of problems. I here actively adopted the coordinate transformation derived from the inclined plane to cope with the random motion of foots and blades on the plane. I then presented several examples of the inverse kinematics problems with specific situations, and verified the validity of the analysis method from the results.

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Autonomous Fine Dust Source Tracking System of the Water Spray Robot for High-rise Building Demolition: Hyeongyeong Jeong, Hyunbin Park, Jaemin Shin, Hyeonjae Jeong, Baeksuk Chu; J. Korean Soc. Precis. Eng. 2023;40(9):695-703.
Published online September 1, 2023; DOI: https://doi.org/10.7736/JKSPE.023.017

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This study reports an autonomous fine dust source tracking system of a water spray robot for high-rise building demolition. The core function of this system is performing a self-controlled fine dust tracking of the endpoint of the excavator, which is the fine dust generation point. The water spray robot has a lift with a parallelogram-shaped linkage to lift the water spray drum to 10 m from the ground. The sensor network system is connected to the robot and the excavator to calculate the relative position of the water spray drum and excavator endpoint using forward kinematics. RTK-GPS is attached to the robot and the excavator to calculate the relative distance. By sensor network, forward kinematics, and RTK-GPS, the water spray robot can autonomously track fine dust generation point and spray water to the endpoint of the excavator. The experiment was conducted to confirm the accuracy of kinematics calculation and tracking performance of the robot. The first experiment showed that the calculation result of forward kinematics was accurate enough to fulfill tracking operations. The second experiment showed that the tracking accuracy was precise enough, meaning that the robot could autonomously track fine dust generation point.

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Realization and Scheduling of Free Spot Assembly Method for Machine Tools Using Cooperative Industrial Robots: Kosuke Inoue, Hideki Aoyama; J. Korean Soc. Precis. Eng. 2023;40(4):319-327.
Published online April 1, 2023; DOI: https://doi.org/10.7736/JKSPE.022.130

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The manufacturing industry is increasingly demanding flexible manufacturing and existing manufacturing methods with fixed equipment do not meet this requirement. The free spot assembly system is an ultra-flexible method that responds to this demand, enabling spatiotemporal free assembly by conveying all necessary resources with automated guided vehicles (AGVs). Although some studies have proposed free spot assembly, free spot assembly feasibility for assembling heavy objects, such as machine tools, by aligning them at high precision has not been verified. Work hour shifts, differences in worker skill levels, and cooperative work with robots have also not been considered in free spot assembly scheduling. This paper presents elemental technologies for realizing a free spot assembly system, with a scheduling method where a genetic algorithm is supported by dispatching rules with six genes. The computational results reveal the effectiveness of the proposed algorithm.

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Development of a Statically Balanced Lifting Device for Repetitively Transporting Construction Materials
Byungseo Kwak, Seungbum Lim, Jungwook Suh
Journal of the Korean Society for Precision Engineering.2024; 41(12): 929. CrossRef

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Mobile Robot Overcoming Narrow Space Using Negative Poisson’s Ratio: Jinwon Kim, Hyeongyeong Jeong, Baeksuk Chu; J. Korean Soc. Precis. Eng. 2021;38(7):479-490.
Published online July 1, 2021; DOI: https://doi.org/10.7736/JKSPE.021.024

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In this study, a novel size adjustable robot that could overcome an unstructured environment was introduced. To provide the robot with a volume-modifiable function, negative Poisson’s ratio structure with a unique characteristic about deformation of material was applied to the design of the body frame. The robot could simultaneously adjust its width and length with only one directional control with the help of the negative Poisson’s ratio structure. An omni-directional mobile mechanism was adopted to drive its wheels and allow flexible movement in a narrow space. However, during the procedure to adjust the size of the robot, a slip phenomenon occurred, resulting in an unnecessary movement. To solve this problem, the unnecessary offset was measured through repetitive tests and applied to the robot to compensate the position shift. To verify the performance of the robot, a test bed with a narrow space was fabricated. Extensive experiments were conducted to evaluate environmental recognition and size adjustment function by calculating the width of the narrow space and scaling the robot"s body. Results confirmed that the robot sufficiently achieved the motion objective to move in a narrow space with its size adjustment function.

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Auxetic and Holonomic Mobile Robot for Enhanced Navigation in Constrained Terrains
Cheonghwa Lee, Jinwon Kim, Hyeongyeong Jeong, Hyunbin Park, Baeksuk Chu
Journal of Field Robotics.2025; 42(8): 4414. CrossRef

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Indoor Localization of a Mobile Robot based on Unscented Kalman Filter Using Sonar Sensors: Soo Hee Seo, Jong Hwan Lim; J. Korean Soc. Precis. Eng. 2021;38(4):245-252.
Published online April 1, 2021; DOI: https://doi.org/10.7736/JKSPE.021.006

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This paper proposes a UKF-Based indoor localization method that evaluates the optimal position of a robot by fusing the position information from encoders and the distance information of the obstacle measured by ultrasonic sensors. UKF is a method of evaluating the robot’s position by transforming optimal sigma points extracted using the unscented transform and is advantageous for the localization of a nonlinear system. To solve the problem of the specular reflection effect of ultrasonic sensors, we propose a validation gate that evaluates the reliability of the ranges measured by sonar sensors, that can maximize the quality of the position evaluation. The experimental results showed that the method is stable and convergence of the position error regardless of the size of the initial position error and the length of the sampling time.

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Minimizing Driving Risk of Mobile Robots by Combining a Goal Guidance Vector Algorithm with Reactive Navigation: Keun Ha Choi, SooHyun Kim; J. Korean Soc. Precis. Eng. 2021;38(2):103-113.
Published online February 1, 2021; DOI: https://doi.org/10.7736/JKSPE.020.038

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In the navigation of mobile robots, the driving risk can be minimized by increasing the probability of success. The algorithm, which is currently commonly known as the shortest path algorithm, performs efficiently, but does not exhibit a good probability of success for achieving the final goal. In this paper, we develop a new reactive navigation algorithm, known as the goal guidance vector (G2V), which can minimize the driving risk within the sensing range. The G2V is designed to improve the performance of the reactive navigation algorithm using a hazard cost function (HCF) that accounts for the scale and locations of the obstacles within the sensing range. We also adopt real-time fuzzy reactive control to determine the weighting factors of the HCF in an unknown environment to determine the optimal G2V. Simulations are conducted to validate the use of this approach for various environments.

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Unscented Kalman Filter Based 3D Localization of Outdoor Mobile Robots: Woo Seok Lee, Min Ho Choi, Jong Hwan Lim; J. Korean Soc. Precis. Eng. 2020;37(5):331-338.
Published online May 1, 2020; DOI: https://doi.org/10.7736/JKSPE.019.066

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This paper proposes a practical method, for evaluating 3-D positioning of outdoor mobile robots using the Unscented Kalman Filter (UKF). The UKF method does not require the linearization process unlike conventional EKF localization, so it can minimize effects of errors caused by linearization of non-linear models for position estimation. Also, this method does not require Jacobian calculations difficult to calculate in the actual implementation. The 3-D position of the robot is predicted using an encoder and tilt sensor, and the optimal position is estimated by fusing these predicted positions with the GPS and digital compass information. Experimental results revealed the proposed method is stable for localization of the 3D position regardless of initial error size, and observation period.

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Research on Parameter Compensation Method and Control Strategy of Mobile Robot Dynamics Model Based on Digital Twin
Renjun Li, Xiaoyu Shang, Yang Wang, Chunbai Liu, Linsen Song, Yiwen Zhang, Lidong Gu, Xinming Zhang
Sensors.2024; 24(24): 8101. CrossRef
A Study on Improving the Sensitivity of High-Precision Real-Time Location Receive based on UWB Radar Communication for Precise Landing of a Drone Station
Sung-Ho Hong, Jae-Youl Lee, Dong Ho Shin, Jehun Hahm, Kap-Ho Seo, Jin-Ho Suh
Journal of the Korean Society for Precision Engineering.2022; 39(5): 323. CrossRef

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Slip Analysis and Experimental Verification for an Omni-Directional Mobile Robot based on Mecanum Wheels: Seolha Kim, Cheonghwa Lee, Baeksuk Chu; J. Korean Soc. Precis. Eng. 2020;37(1):35-42.
Published online January 1, 2020; DOI: https://doi.org/10.7736/JKSPE.019.082

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In this study, slip phenomenon that occurs during trajectory tracking motion of an omni-directional mobile robot based on Mecanum wheels was analyzed. Mecanum wheels which generate the omni-directionality to the mobile robot comprise a centered rim wheel and passive sub-rollers. In forward and backward motion, they function like usual wheels to enable rolling along the ground. However, in sideways motion, they create lateral motion of the mobile robot from the rotational actuation using their peculiar structural configuration, during which slip of the sub-rollers occurs. Unnecessary over-slip of the sub-rollers causes tracking errors of the mobile robot motion. To analyze the properties and reasons for the slip phenomenon, squared and circular trajectory tacking experiments were performed. From the experiments, it was observed that sideways motion generated respectively larger tracking errors than forward and backward motion. The geometric analysis regarding the tracking error generation was discussed using the Mecanum wheel structure. Finally, it was confirmed that suspension mechanism to provide four Mecanum wheels of the mobile robot with even reaction forces on the ground is necessary.

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Citations to this article as recorded by

Auxetic and Holonomic Mobile Robot for Enhanced Navigation in Constrained Terrains
Cheonghwa Lee, Jinwon Kim, Hyeongyeong Jeong, Hyunbin Park, Baeksuk Chu
Journal of Field Robotics.2025; 42(8): 4414. CrossRef
Development of Pipe Robot by Using Mecanum Wheels
Daeyoung Kim, Soonwook Park, Hojoong Lee, Jongpil Kim, Wonji Chung, Dohoon Kwak
Journal of the Korean Society of Manufacturing Process Engineers.2021; 20(2): 58. CrossRef
Mobile Robot Overcoming Narrow Space Using Negative Poisson’s Ratio
Jinwon Kim, Hyeongyeong Jeong, Baeksuk Chu
Journal of the Korean Society for Precision Engineering.2021; 38(7): 479. CrossRef

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Extended Kalman Filter Based 3D Localization Method for Outdoor Mobile Robots: Woo Seok Lee, Min Ho Choi, Jong Hwan Lim; J. Korean Soc. Precis. Eng. 2019;36(9):851-858.
Published online September 1, 2019; DOI: https://doi.org/10.7736/KSPE.2019.36.9.851

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This paper proposes a 3D localization method for an outdoor mobile robot. This method assesses the 3D position including the altitude information, which is impossible in the existing 2D localization method. In this method, the 3D position of the robot is predicted using an encoder and an inclination sensor. The predicted position is fused with the position information obtained from the DGPS and the digital compass using extended kalman filter to evaluate the 3D position of the robot. The experimental results showed that the proposed method can effectively evaluate the 3D position of the robot in a sloping environment. Moreover, this method was found to be more effective than the conventional 2D localization method even in the evaluation of the plane position where altitude information is unnecessary.

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Citations to this article as recorded by

Research on Parameter Compensation Method and Control Strategy of Mobile Robot Dynamics Model Based on Digital Twin
Renjun Li, Xiaoyu Shang, Yang Wang, Chunbai Liu, Linsen Song, Yiwen Zhang, Lidong Gu, Xinming Zhang
Sensors.2024; 24(24): 8101. CrossRef
Unscented Kalman Filter Based 3D Localization of Outdoor Mobile Robots
Woo Seok Lee, Min Ho Choi, Jong Hwan Lim
Journal of the Korean Society for Precision Engineering.2020; 37(5): 331. CrossRef

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Study on Mobility of Planetary Rovers and the Development of a Lunar Rover Prototype with Minimized Redundancy of Actuators: Mingyo Seo, Woosub Lee; J. Korean Soc. Precis. Eng. 2019;36(4):339-348.
Published online April 1, 2019; DOI: https://doi.org/10.7736/KSPE.2019.36.4.339

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This paper reviews design elements and presents a mobile platform that has full access of wheel actuation for explicit steering with a minimized number of actuators. For the purpose of exploring lunar surfaces, there are two main design perspectives to be considered. First, the mobile system should guarantee traversability on rough terrain in microgravity condition. Secondly, the system should be sustainable in the extreme environment of the lunar surface including cosmic rays and excessive temperature changes. One of the potential solutions to improve the reliability of the rover system is to reduce the chance of failure by minimizing the number of electronic components including actuators and their following components and installing them in the rover’s warm-box. We approached the design of the mobile system in the aspect of its kinematics with assumptions of pure-rolling and non-lateral slip. We found a relation that a pair of front and rear wheels on the same side is coupled so that their alignment and rotational speed can be coupled by a mechanism. This allows advantages of explicit steering, minimizing redundancy of actuators and isolating all the electronic components from the effects of external environments. To demonstrate the feasibility of the system, we developed a rover testbed and presented its mobility of explicit steering by experiments of open-loop trajectory traveling.

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Deep Reinforcement Learning-Based Failure-Safe Motion Planning for a 4-Wheeled 2-Steering Lunar Rover
Beom-Joon Park, Hyun-Joon Chung
Aerospace.2023; 10(3): 219. CrossRef
Trends in Development of Micro Rovers for Planetary Exploration
Keon-Woo Koo, Hae-Dong Kim
Journal of Space Technology and Applications.2023; 3(3): 213. CrossRef